I don’t know of any library that does this, but if they are all just prefixes–that is, there is no difference in name or syntax–writing a function yourself would be trivial.
function setVendor(element, property, value) {
element.style["webkit" + property] = value;
element.style["moz" + property] = value;
element.style["ms" + property] = value;
element.style["o" + property] = value;
}
Then you can just use this in most cases.